CN209366472U - A kind of logistics transportation system and its automatic butt, the control system of separation - Google Patents

Abstract

A kind of logistics transportation system, wherein fixed locking system is equipped with including aircraft and cargo hold, between aircraft and cargo hold, the aircraft can be detachably connected by the fixed locking system with the cargo hold；The fixed locking system includes being located at carry-on first latch, and the second latch matched with first latch being located on the cargo hold；First latch is evenly distributed on the aircraft same plane, and second latch is evenly distributed on the cargo hold same plane, and first latch can cooperate with second latch, and aircraft is made to link together with cargo hold.The utility model also provides a kind of logistics transportation system automatic butt, the control system of separation.The utility model is able to solve prior art middle hold and is loaded and unloaded in the horizontal plane, and sliding rail is long, sliding rail is easily-deformable, sliding slot gap is small in sliding rail leads to problems such as the cargo hold efficiency of loading and unloading low.

Description

A kind of logistics transportation system and its automatic butt, the control system of separation

Technical field

The utility model relates to aircraft logistics and transportation technical field, more particularly, to a kind of logistics transportation system and Its automatic butt, the control system of separation.

Background technique

Application No. is CN106114866.A, the Chinese utility model patent of the entitled unmanned plane cargo hold of patent provides one kind Unmanned plane cargo hold, the unmanned plane cargo hold include: one group of first connecting plate being parallel to each other and one group of second connection being parallel to each other Plate, the second bottom won in succession described in the first connecting plate described in one group and one group are closed by bottom plate, adjacent first connecting plate It is connected in corner by column with second connecting plate；At least one described first connecting plate is in the turning position at one The first latch is installed, the top of the latch is equipped with the second latch, and second latch may be provided at unmanned plane On the sliding rail of ontology, the unmanned plane cargo hold can move horizontally along the sliding rail and pass through first latch and described second Latch locking.The above-mentioned prior art is to achieve the purpose that quick despatch and self-locking, uses unmanned plane sliding rail and the first locking The cooperation of block, is loaded and unloaded, and is cooperated using the first latch and the second latch, is carried out self-locking.

In the above prior art, when cargo hold loads, unmanned plane needs to be supported on ground, has support frame, due to support The height limitation of frame, the design length, width and height of cargo hold, the size of length and width is greater than high size, and the prior art is using horizontal sliding Rail, so the length of device sliding rail is longer, for cargo hold in the process of handling, the required time is long, and the cargo hold efficiency of loading and unloading is low.The dress of cargo hold It carries and unloading, the first latch needs moves on the slide rail, cargo hold is mobile, i.e. gravity motion, and the first latch may be made to cunning The pressure of rail is concentrated on one point, along with access times are frequent, sliding rail may be promoted to be deformed, to influence the dress of cargo hold Unload efficiency.Sliding rail sliding slot is matched with the first latch, due to on vertical direction, limit to the first latch, sliding slot The size that gap should be adapted with the thickness of the first latch, since the size of sliding slot and the first latch is adapted, so making It is not easy to be aligned with sliding rail at the first latch, to cause efficiency of loading low.

Summary of the invention

The utility model in order to overcome at least one of the drawbacks of the prior art described above, provide a kind of logistics transportation system and Its automatic butt, the control system of separation.The utility model is able to solve prior art middle hold and is loaded and unloaded in the horizontal plane, Sliding slot gap is small in sliding rail length, sliding rail flexible type, sliding rail leads to problems such as the cargo hold efficiency of loading and unloading low.

In order to solve the above technical problems, the technical solution adopted in the utility model is: a kind of logistics transportation system, wherein Fixed locking system is equipped with including aircraft and cargo hold, between aircraft and cargo hold, the aircraft can pass through the fixation Locking system is detachably connected with the cargo hold；The fixed locking system includes being located at carry-on first locking Block, and the second latch matched with first latch being located on the cargo hold；First latch is uniform It being distributed on the aircraft same plane, second latch is evenly distributed on the cargo hold same plane, and described One latch can cooperate with second latch, and aircraft is made to link together with cargo hold.

Further, first latch includes the first fixed plate and the first locking for being located in first fixed plate Block main body, first latch are fixed on the aircraft by the first fixed plate, the first fixed plate can by with spiral shell The cooperation of nail is fixed on the aircraft, can also be the integrated design with the aircraft；The first locking block main body It is equipped with fixation hole, the sliding slot that one end is connect with the fixation hole and the first guiding surface connecting with the sliding slot other end With the second guiding surface, one end in the first locking block main body far from first fixed plate is additionally provided with third guide surface.

Further, second latch includes the second fixed plate and the second locking for being located in second fixed plate Block main body, second latch are fixed on the cargo hold by the second fixed plate, the second fixed plate can by with screw Cooperation be fixed on the cargo hold, can also be the integrated design with the cargo hold；The second locking block main body is equipped with Body recess compatible with the first locking block main body, the body recess side wall are equipped with electromagnetic lock structure, the master Side wall of the body groove at notch, which is equipped with, rolls wheel construction, and opening variation machine is additionally provided on the notch of the body recess Structure.

Further, the electromagnetic lock structure includes electromagnet, locking rod and the first spring, and the electromagnet is located at described On body recess side wall, the locking rod is threaded through on the side wall of the body recess, described in the first spring one end connection Electromagnet, the other end connect the locking rod, and first spring is equipped with pressure sensor.The electromagnetic lock structure and cargo hold On second controller connection, second controller control electromagnet be powered whether, to control the movement of locking rod.Work as aircraft When needing to be loaded with cargo hold, after the completion of the first latch and the contraposition of the second latch, under gravity, aircraft band The first latch move down, what is contacted first with locking rod is the first guiding surface, continue to move down, locking rod fly Under the action of the gravity and the first guiding surface of row device fuselage, the first spring is compressed to the direction far from the first latch is mobile, First latch continues to move down, and locking rod may first be contacted with the second guiding surface, then be directed into sliding slot, or straight It taps into sliding slot, under the guidance of sliding slot, locking rod reaches fixation hole, and locking rod enters solid under the action of the first spring Determine in hole, and then complete the first latch and the second latch locking, aircraft and cargo hold are completed to load at this time, can execute Fly transport.When aircraft, which carries, to be needed to unload cargo hold after cargo hold arrives at the destination, second controller controls electromagnet It is powered, locking rod is drawn close under the action of electromagnet to electromagnet, and locking rod is detached from fixation hole at this time, can pass through the first spring On the pressure of pressure sensor detection judge whether locking rod completely disengages fixation hole, if locking rod completely disengages fixation Hole, then the first latch and the second latch are completed to unlock, and can control aircraft takeoff at this time and cargo hold is detached from.

Further, the rolling wheel construction includes idler wheel and roller shaft, side wall of the body recess at notch It is equipped with installation position, the idler wheel is fixedly mounted in the installation position by the roller shaft, and the idler wheel fraction is prominent The inner wall of the body recess.The effect for rolling wheel construction is, when first latch enters body recess, sliding to be rubbed Wiping is converted into rolling friction, reduces frictional resistance, so that the first locking block main body of the first latch easier can enter To the body recess of the second latch, pairing connection is completed.

Further, the opening changeable mechanism includes rotating block, connecting rod, guide rod, driver plate, shaft and the second bullet Spring, the top of the body recess side wall are equipped with the first groove, and the rotating block is equipped with the second groove and the first guide groove, The guide rod is threaded through in first guide groove, and the two sidewalls connection that guide rod both ends are opposite with the first groove, described Rotating block is rotatably connected in first groove by shaft, and the driver plate is located at the bottom inside the body recess, The second spring is located between the driver plate and the bottom wall of the body recess, and the side wall of the body recess, which is equipped with, leads The second guide groove that Xiang Konghe is connected to the pilot hole, the connecting rod are located in the pilot hole, the driver plate with it is described Second guide groove is adapted, and described connecting rod one end is connect with the driver plate, and the other end is located in second groove, and with institute State shaft rotation connection.Its working principle is that rotating block is all turned on the outside of body recess top opening when initial, when First locking block main body enters after body recess contacts with driver plate, continues to move down, driver plate is by the first latch master The effect for the pressure that body transmitting comes, drives connecting rod, compresses second spring downwards, rotating block is in connecting rod, guide rod, the first guide groove And second guide groove interaction under, be contracted in the first groove at the top of the second latch, and the end face of rotating block and the The side wall of one locking block main body is close to.When the first locking block main body leaves driver plate, the pressure on driver plate is cancelled, driver plate Under the action of second spring, connecting rod is pushed to move up, rotating block is in connecting rod and guide rod, the first guide groove and the second guiding Under the interaction of slot, the first groove at the top of the second latch, the side to overturn to outside body recess top opening are left.It sets in this way Meter, so that it may by the open-topped size being dimensioned to greater than the first locking block main body of body recess, to facilitate the first lock Stops main body is quick and precisely matched with body recess, and after the first locking block main body enters body recess, be open changeable mechanism Rotating block will be close to the side wall of the first locking block main body, avoid body recess top open part and the first locking block main body it Between have gap and shake.

The utility model also provides a kind of logistics transportation system automatic butt, the control system of separation, wherein including logistics Platform, the flight control system and cargo hold control system that can be communicated with the logistics platform, the flying vehicles control system System includes sequentially connected:

First reception/transmission signaling module for receiving the signal of logistics platform, and therefrom obtains cargo hold relevant information, And send the relevant information of aircraft；

First position coordinate measurement module, the coordinate position put in sense aircraft；

Flight attitude detection module is used for the skyborne flight attitude of sense aircraft；

And it is located at carry-on:

First processor, the information sent for receiving the first reception/transmission signaling module, and to the received information of institute into Row processing generates aircraft maneuvers instruction；

First controller, for receiving the instruction of first processor, control aircraft completes corresponding instruction；Control flight Device is mobile, and control aircraft adjusts posture, so that the first latch and the second latch completion on cargo hold are rough right on aircraft Position；

The cargo hold control system includes sequentially connected:

Second position coordinate measurement module, for detecting the coordinate position put on cargo hold；

Location status detection module, for detecting the location status of cargo hold；

Second signal reception/sending module, for sending cargo hold request information-carrying and position coordinates letter to logistics platform Breath, location status information, for receiving the information of aircraft transmission；

And it is located on cargo hold:

Second processor generates fixed locking system action command for handling the relevant information of aircraft；

Second controller controls fixed locking system completion and refers to for receiving the action command of Second processing module generation Order movement；Second controller is electrically connected with the pressure sensor on the electromagnet and the first spring.

The utility model also provides a kind of control method of logistics transportation system automatic butt, wherein includes the following steps:

S1. loading cabin to be installed sends cargo hold to logistics platform and requests information-carrying, and logistics platform detects aircraft at this time Delivery event, the cargo hold centre coordinate point A that logistics platform will acquire are determined as first object point；Then, logistics platform obtains The coordinate of aircraft central point A ', and the height of the central point A ' of the aircraft is analyzed, whether judge the height value Greater than a certain preset threshold, if being not more than, according to the height value, control aircraft and move up, and obtain it is mobile after it is new Aircraft central point A ' height value, judged again；Such as larger than preset threshold then keeps or cannot be less than this Height value carries out step S2；

S2. the coordinate of the coordinate and first object point of the central point A ' of the aircraft is analyzed, calculate two o'clock it Between distance, judge the distance whether in preset threshold range, if not in preset threshold range, according to the distance Value control aircraft is mobile to the first object point, and obtain it is mobile after new aircraft central point A ' coordinate, again The distance between two o'clock is calculated, is judged；If carrying out step S3 in preset threshold range；

S3. for the cargo hold state that will acquire as dbjective state, the cargo hold state is the detection of location status detection module Cargo hold main body x-axis, y-axis, z-axis deviate angle value, obtain the flight attitude of aircraft, the flight attitude of the aircraft is The x-axis of the aircraft of flight attitude detection module detection, y-axis, the angle value that z-axis deviates judge the flight appearance of the aircraft Whether state is consistent with dbjective state, mentioned here consistent than consistent in not instead of absolute sense, opposite, that is to say, that There may be some deviations, these deviations can be through a mechanical configuration the flight attitude and dbjective state of aircraft It corrects, to complete to dock；So judging whether the flight attitude of the aircraft and dbjective state are consistent, that is, judge institute Cargo hold main body x-axis is stated, the differential seat angle of y-axis, the x-axis of angle value and aircraft that z-axis deviates, y-axis, the angle value of z-axis deviation is In the certain preset threshold range of no each leisure；If inconsistent, according to dbjective state, control aircraft and adjust posture, obtain The flight attitude of aircraft after adjustment, then judgement is compared with dbjective state；If being consistent, step S4 is carried out；

S4. the second latch contraposition that the aircraft is drop on carry-on first latch and cargo hold is executed to connect It connects, and obtains the height value of current flight device, the height value is judged whether in certain preset threshold range, if it is not, returning To step S3；If so, determining that current flight device and cargo hold contraposition connection are completed, aircraft takeoff is controlled.

The utility model also provides a kind of control method that logistics transportation system is automatically separated, wherein includes the following steps:

S1. after the completion of aircraft delivery cargo hold, cargo hold sends cargo hold request separation information to logistics platform, and logistics at this time is flat Platform detects aircraft and cargo hold is automatically separated event, and the electromagnetic lock structure that the cargo hold controls on the second latch is solved Lock, second controller call pressure sensor to detect the pressure value that the first spring is subject to；

S2. judge whether the pressure value is greater than certain preset threshold, if it is not, then returning to step S1；If so, Control aircraft is raised above, and adjusts flight attitude, aircraft steadily moves up, and obtains the height value of aircraft；

S3. judge whether the height value is greater than certain preset threshold, if it is not, then returning to step S2；If so, described First latch separates completion with the second latch, and the electromagnetic lock structure that the cargo hold controls on the second latch is restored to initially State, the aircraft enter next delivery event.

Compared with prior art, the utility model has the beneficial effects that

For the utility model using aircraft and the handling of cargo hold in the vertical direction, the mobile path of the first latch is short, Time required for mobile is short；Using aircraft and the handling of cargo hold in the vertical direction, will not occur to generate pressure to sliding rail Effect, promote sliding rail to be deformed, thus the problem of influencing the efficiency of loading and unloading of cargo hold；First latch and the second latch pair Position, openings of sizes is greater than the size of the first latch, and is provided with and rolls wheel construction, reduces frictional resistance, consequently facilitating Contraposition；Fixation hole and the electromagnetic lock structure with fixation hole cooperation are respectively provided on first latch and the second latch, so that Aircraft and cargo hold lock securely, securely and reliably after loading.

Detailed description of the invention

Fig. 1 is the overall structure diagram of the second latch of the utility model；

Fig. 2 is the overall structure diagram of the first latch of the utility model；

Fig. 3 is the rotating block of the utility model opening changeable mechanism in structural schematic diagram I when contraction state；

Fig. 4 is the rotating block of the utility model opening changeable mechanism in structural schematic diagram II when contraction state；

Fig. 5 is the longitudinal sectional view of the second latch of the utility model；

Fig. 6 is the connection schematic diagram of the utility model rotating block and connecting rod；

Fig. 7 is the schematic top plan view of the second latch of the utility model；

Fig. 8 is the structural schematic diagram I of the utility model flight control system；

Fig. 9 is the structural schematic diagram II of the utility model flight control system；

Figure 10 is the structural schematic diagram I of the utility model cargo hold control system；

Figure 11 is the structural schematic diagram II of the utility model cargo hold control system；

Figure 12 is the control method flow diagram of the utility model aircraft Yu cargo hold automatic butt；

Figure 13 is the control method flow diagram that the utility model aircraft and cargo hold are automatically separated.

Specific embodiment

The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art, The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing Illustrate, should not be understood as the limitation to this patent.

Embodiment 1

As shown in Fig. 1 to Fig. 7, a kind of logistics transportation system, wherein including aircraft and cargo hold, aircraft and cargo hold it Between be equipped with fixed locking system, the aircraft can be detachably connected by the fixed locking system with the cargo hold；Institute State fixed locking system include be located at carry-on first latch 1, and be located on the cargo hold with described the The second latch 2 that one latch 1 matches；First latch 1 is evenly distributed on the aircraft same plane, institute It states the second latch 2 to be evenly distributed on the cargo hold same plane, first latch 1 can be with second latch 2 cooperate, and aircraft is made to link together with cargo hold.

As shown in Fig. 1 to Fig. 7, first latch 1 includes the first fixed plate 11 and is located at first fixed plate 11 On the first locking block main body 12, first latch 1 is fixed on the aircraft by the first fixed plate 11, and first is solid Fixed board 11 can be fixed on the aircraft by the cooperation with screw, can also be the integrated design with the aircraft； The first locking block main body 12 be equipped with the sliding slot 14 that fixation hole 13, one end are connect with the fixation hole 13 and with the cunning The first guiding surface 15 and the second guiding surface 16 of 14 other end of slot connection, far from described in the first locking block main body 12 One end of first fixed plate 11 is additionally provided with third guide surface 17.

As shown in Fig. 1 to Fig. 7, second latch 2 includes the second fixed plate 21 and is located at second fixed plate 21 On the second locking block main body 22, second latch 2 is fixed on the cargo hold by the second fixed plate 21, and second is fixed Plate 21 can be fixed on the cargo hold by the cooperation with screw, can also be the integrated design with the cargo hold；Described Two locking block main bodies 22 are equipped with body recess 23 compatible with the first locking block main body 12,23 side of body recess Wall is equipped with electromagnetic lock structure, and side wall of the body recess 23 at notch, which is equipped with, rolls wheel construction, and the main body is recessed Opening changeable mechanism is additionally provided on the notch of slot 23.

As shown in Fig. 1 to Fig. 7, the electromagnetic lock structure includes electromagnet 3, locking rod 4 and the first spring 5, the electromagnetism Iron 3 is located on 23 side wall of body recess, and the locking rod 4 is threaded through on the side wall of the body recess 23, and described first 5 one end of spring connects the electromagnet 3, and the other end connects the locking rod 4, and first spring 5 is equipped with pressure sensor. The electromagnetic lock structure is connect with the second controller on cargo hold, whether second controller controls the energization of electromagnet 3, to control The movement of locking rod 4.When aircraft and cargo hold need to be loaded, the first latch 1 and the contraposition of the second latch 2 are completed Afterwards, under gravity, aircraft is moved down with the first latch 1, and what is contacted first with locking rod 4 is the first guiding Inclined-plane 15 continues to move down, and locking rod 4 is under the action of the gravity of aircraft fuselage and the first guiding surface 15, to separate First spring 5 of the mobile compression in the direction of first latch 1, the first latch 1 continue to move down, and locking rod 4 may be with second Guiding surface 16 first contacts, then is directed into sliding slot 14, or is directly entered sliding slot 14, under the guidance of sliding slot 14, locking Bar 4 reaches fixation hole 13, and locking rod 4 enters in fixation hole 13 under the action of the first spring 5, and then completes the first locking 2 locking of block 1 and the second latch, aircraft and cargo hold are completed to load at this time, can execute transport of taking off.When aircraft carries When cargo hold needs to unload cargo hold after arriving at the destination, second controller controls electromagnet 3 and is powered, and locking rod 4 is in electromagnetism The effect of iron 3 is drawn close to electromagnet 3.Locking rod 4 is detached from fixation hole 13 at this time, can pass through the pressure sensing on the first spring 5 The pressure of device detection judges whether locking rod 4 completely disengages fixation hole 13, if locking rod 4 completely disengages fixation hole 13, the One latch 1 and the second latch 2 are completed to unlock, and can control aircraft takeoff at this time and cargo hold is detached from.

As shown in Fig. 1 to Fig. 7, the rolling wheel construction includes idler wheel 6 and roller shaft 7, and the body recess 23 is close to slot Side wall at mouthful is equipped with installation position 8, and the idler wheel 6 is fixedly mounted in the installation position 8 by the roller shaft 7, described The inner wall of the prominent body recess 23 of 6 fraction of idler wheel.The effect for rolling wheel construction is, when first latch 1 enters When body recess 23, rolling friction is converted by sliding friction, reduces frictional resistance.So as to the first locking of the first latch 1 Block main body 12 easier can enter the body recess 23 of the second latch 2, complete pairing connection.

As shown in Fig. 1 to Fig. 7, the opening changeable mechanism include rotating block 9, connecting rod 10, guide rod 18, driver plate 19, Shaft 20 and second spring 24, the top of 23 side wall of body recess are equipped with the first groove, and the rotating block 9 is equipped with the Two grooves 25 and the first guide groove 26, the guide rod 18 are threaded through in first guide groove 26, and 18 both ends of guide rod with The opposite two sidewalls connection of first groove, the rotating block 9 are rotatably connected in first groove by shaft 20, the biography Movable plate 19 is located at the bottom inside the body recess 23, and the second spring 24 is located at the driver plate 19 and the main body is recessed Between the bottom wall of slot 23, the side wall of the body recess 23 be equipped with pilot hole 27 and be connected to the pilot hole 27 second Guide groove 28, the connecting rod 10 are located in the pilot hole 27, and the driver plate 19 is adapted with second guide groove 28, institute It states 10 one end of connecting rod to connect with the driver plate 19, the other end is located in second groove 25, and is rotated with the shaft 20 Connection.Its working principle is that rotating block 9 is all turned on the outside of 23 top opening of body recess when initial, when the first lock After stops main body 12 is contacted into body recess 23 with driver plate 19, continue to move down, driver plate 19 is by the first latch The effect for the pressure that the transmitting of main body 12 comes drives connecting rod 10, compresses second spring 24 downwards, rotating block 9 is in connecting rod 10, guide rod 18, it under the interaction of the first guide groove 26 and the second guide groove 28, is contracted in first groove at 2 top of the second latch, And the end face of rotating block 9 is close to the side wall of the first locking block main body 12.When the first locking block main body 12 leaves driver plate 19, Pressure revocation on driver plate 19, driver plate 19 push connecting rod 10 to move up, rotating block 9 under the action of second spring 24 Under the interaction of connecting rod 10 and guide rod 18, the first guide groove 26 and the second guide groove 28,2 top of the second latch is left The first groove, the side to overturn to outside 23 top opening of body recess.It designs in this way, so that it may which body recess 23 is open-topped It is dimensioned to the size greater than the first locking block main body 12, to facilitate the first locking block main body 12 and body recess 23 quickly quasi- Really pairing, after the first locking block main body 12 enters body recess 23, the rotating block 9 for the changeable mechanism that is open will be with the first locking The side wall of block main body 12 is close to, and avoids having gap between 23 top open part of body recess and the first locking block main body 12 and occurring It shakes.

Embodiment 2

As shown in Fig. 8 to Figure 11, a kind of logistics transportation system automatic butt, the control system of separation, wherein including logistics Platform, the flight control system and cargo hold control system that can be communicated with the logistics platform, the flying vehicles control system System includes sequentially connected:

First reception/transmission signaling module for receiving the signal of logistics platform, and therefrom obtains cargo hold relevant information, And send the relevant information of aircraft；

First position coordinate measurement module, the coordinate position put in sense aircraft；

Flight attitude detection module is used for the skyborne flight attitude of sense aircraft；

And it is located at carry-on:

First processor, the information sent for receiving the first reception/transmission signaling module, and to the received information of institute into Row processing generates aircraft maneuvers instruction；

First controller, for receiving the instruction of first processor, control aircraft completes corresponding instruction；Control flight Device is mobile, and control aircraft adjusts posture, so that the first latch 1 is completed roughly with the second latch 2 on cargo hold on aircraft Contraposition；

The cargo hold control system includes sequentially connected:

Second position coordinate measurement module, for detecting the coordinate position put on cargo hold；

Location status detection module, for detecting the location status of cargo hold；

Second signal reception/sending module, for sending cargo hold request information-carrying and position coordinates letter to logistics platform Breath, location status information, for receiving the information of aircraft transmission；

And it is located on cargo hold:

Second processor generates fixed locking system action command for handling the relevant information of aircraft；

Second controller controls fixed locking system completion and refers to for receiving the action command of Second processing module generation Order movement；Second controller is electrically connected with the pressure sensor on the electromagnet 3 and the first spring 5.

Embodiment 3

As shown in figure 12, a kind of control method of logistics transportation system automatic butt, wherein include the following steps:

S1. loading cabin to be installed sends cargo hold to logistics platform and requests information-carrying, and logistics platform detects aircraft at this time Delivery event, the cargo hold centre coordinate point A that logistics platform will acquire are determined as first object point；Then, logistics platform obtains The coordinate of aircraft central point A ', and the height of the central point A ' of the aircraft is analyzed, whether judge the height value Greater than a certain preset threshold, if being not more than, according to the height value, control aircraft and move up, and obtain it is mobile after it is new Aircraft central point A ' height value, judged again；Such as larger than preset threshold then keeps or is not less than this height value Carry out step S2；

S2. the coordinate of the coordinate and first object point of the central point A ' of the aircraft is analyzed, calculate two o'clock it Between distance, judge the distance whether in preset threshold range, if not in preset threshold range, according to the distance Value control aircraft is mobile to the first object point, and obtain it is mobile after new aircraft central point A ' coordinate, again The distance between two o'clock is calculated, is judged；If carrying out step S3 in preset threshold range；

S3. for the cargo hold state that will acquire as dbjective state, the cargo hold state is the detection of location status detection module Cargo hold main body x-axis, y-axis, z-axis deviate angle value, obtain the flight attitude of aircraft, the flight attitude of the aircraft is The x-axis of the aircraft of flight attitude detection module detection, y-axis, the angle value that z-axis deviates judge the flight appearance of the aircraft Whether state is consistent with dbjective state, mentioned here consistent than consistent in not instead of absolute sense, opposite, that is to say, that There may be some deviations, these deviations can be through a mechanical configuration the flight attitude and dbjective state of aircraft It corrects, to complete to dock；So judging whether the flight attitude of the aircraft and dbjective state are consistent, that is, judge institute Cargo hold main body x-axis is stated, the differential seat angle of y-axis, the x-axis of angle value and aircraft that z-axis deviates, y-axis, the angle value of z-axis deviation is In the certain preset threshold range of no each leisure；If inconsistent, according to dbjective state, control aircraft and adjust posture, obtain The flight attitude of aircraft after adjustment, then judgement is compared with dbjective state；If being consistent, step S4 is carried out；

S4. it executes the aircraft and drop to carry-on first latch 1 and the second latch 2 contraposition on cargo hold Connection, and the height value of current flight device is obtained, the height value is judged whether in certain preset threshold range, if it is not, returning Return to step S3；If so, determining that current flight device and cargo hold contraposition connection are completed, aircraft takeoff is controlled.

Embodiment 4

As shown in figure 13, a kind of control method that logistics transportation system is automatically separated, wherein include the following steps:

S1. after the completion of aircraft delivery cargo hold, cargo hold sends cargo hold request separation information to logistics platform, and logistics at this time is flat Platform detects aircraft and cargo hold is automatically separated event, and the electromagnetic lock structure that the cargo hold controls on the second latch 2 is solved Lock, second controller call pressure sensor to detect the pressure value that the first spring 5 is subject to；

S2. judge whether the pressure value is greater than certain preset threshold, if it is not, then returning to step S1；If so, Control aircraft is raised above, and adjusts flight attitude, aircraft steadily moves up, and obtains the height value of aircraft；

S3. judge whether the height value is greater than certain preset threshold, if it is not, then returning to step S2；If so, described First latch 1 separates completion with the second latch 2, and the electromagnetic lock structure that the cargo hold controls on the second latch 2 is restored to Original state, the aircraft enter next delivery event.

Obviously, the above embodiments of the present invention is used for the purpose of clearly demonstrating examples for clearly illustrating the present invention, And it is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, it is stated upper It can also be made other variations or changes in different ways on the basis of bright.There is no need and unable to give all embodiments With exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc. should all include Within the protection scope of the utility model claims.

Claims (6)

1. a kind of logistics transportation system, which is characterized in that including aircraft and cargo hold, fixing lock is equipped between aircraft and cargo hold Locking apparatus, the aircraft can be detachably connected by the fixed locking system with the cargo hold；The fixed locking dress Set including being located at carry-on first latch (1), and be located on the cargo hold with first latch (1) The second latch (2) matched；First latch (1) is evenly distributed on the aircraft same plane, and described Two latch (2) are evenly distributed on the cargo hold same plane, and first latch (1) can be with second latch (2) it cooperates, aircraft is made to link together with cargo hold；First latch (1) includes the first fixed plate (11) and sets The first locking block main body (12) on first fixed plate (11), first latch (1) pass through the first fixed plate (11) it is fixed on the aircraft, the first locking block main body (12) is equipped with fixation hole (13), one end and the fixation The sliding slot (14) of hole (13) connection and the first guiding surface (15) being connect with the sliding slot (14) other end and the second guiding Inclined-plane (16), one end on the first locking block main body (12) far from first fixed plate (11) are additionally provided with third guide surface (17)。

2. a kind of logistics transportation system according to claim 1, which is characterized in that second latch (2) includes the Two fixed plates (21) and the second locking block main body (22) being located on second fixed plate (21), second latch (2) It is fixed on the cargo hold by the second fixed plate (21), the second locking block main body (22) is equipped with and first locking The compatible body recess (23) of block main body (12), body recess (23) side wall are equipped with electromagnetic lock structure, the main body Side wall of the groove (23) at notch, which is equipped with, rolls wheel construction, and opening is additionally provided on the notch of the body recess (23) and is become Change mechanism.

3. a kind of logistics transportation system according to claim 2, which is characterized in that the electromagnetic lock structure includes electromagnet (3), locking rod (4) and the first spring (5), the electromagnet (3) are located on the outside of the body recess (23), the locking rod (4) it is threaded through on the side wall of the body recess (23), described first spring (5) one end connects the electromagnet (3), the other end It connects the locking rod (4), first spring (5) is equipped with pressure sensor.

4. a kind of logistics transportation system according to claim 2, which is characterized in that the rolling wheel construction includes idler wheel (6) and roller shaft (7), side wall of the body recess (23) at notch are equipped with installation position (8), and the idler wheel (6) is logical It crosses the roller shaft (7) to be fixedly mounted in the installation position (8), the prominent body recess of idler wheel (6) fraction (23) inner wall.

5. a kind of logistics transportation system according to claim 2, which is characterized in that the opening changeable mechanism includes rotation Block (9), connecting rod (10), guide rod (18), driver plate (19), shaft (20) and second spring (24), the body recess (23) The top of side wall is equipped with the first groove, and the rotating block (9) is equipped with the second groove (25) and the first guide groove (26), described Guide rod (18) is threaded through in first guide groove (26), and the two sidewalls company that guide rod (18) both ends are opposite with the first groove It connects, the rotating block (9) is rotatably connected in first groove by shaft (20), and the driver plate (19) is located at the master The internal bottom of body groove (23), the second spring (24) are located at the bottom of the driver plate (19) and the body recess (23) Between wall, the side wall of the body recess (23) is equipped with pilot hole (27) and the second guiding being connected to the pilot hole (27) Slot (28), the connecting rod (10) are located in the pilot hole (27), the driver plate (19) and the second guide groove (28) phase Adaptation, described connecting rod (10) one end connect with the driver plate (19), and the other end is located in second groove (25), and with institute State shaft (20) rotation connection.

6. a kind of logistics transportation system automatic butt, the control system of separation, which is characterized in that, can be with institute including logistics platform The flight control system and cargo hold control system that logistics platform is communicated are stated, the flight control system includes successively connecting It connects:

First reception/transmission signaling module for receiving the signal of logistics platform, and therefrom obtains cargo hold relevant information, concurrently Send the relevant information of aircraft；

First position coordinate measurement module, the coordinate position put in sense aircraft；

Flight attitude detection module is used for the skyborne flight attitude of sense aircraft；

And it is located at carry-on:

First processor, the information sent for receiving the first reception/transmission signaling module, and to the received information of institute at Reason generates aircraft maneuvers instruction；

First controller, for receiving the instruction of first processor, control aircraft completes corresponding instruction；Aircraft is controlled to move Dynamic, control aircraft adjusts posture, so that the first latch and the rough contraposition of the second latch completion on cargo hold on aircraft；

The cargo hold control system includes sequentially connected:

Second position coordinate measurement module, for detecting the coordinate position put on cargo hold；

Location status detection module, for detecting the location status of cargo hold；

Second signal reception/sending module, for logistics platform send cargo hold request information-carrying and location coordinate information, Location status information, for receiving the information of aircraft transmission；

And it is located on cargo hold:

Second processor generates fixed locking system action command for handling the relevant information of aircraft；

It is dynamic to control fixed locking system completion instruction for receiving the action command of Second processing module generation for second controller Make；Second controller is electrically connected with the pressure sensor on electromagnet (3) and the first spring (5).